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Sensitivity analysis of balanced robotic manipulators

Published online by Cambridge University Press:  09 March 2009

W. K. Chung
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science & Technology, Chongryangni P. O. Box 150, Seoul (South Korea)
H. S. Cho
Affiliation:
Department of Production Engineering, Korea Advanced Institute of Science & Technology, Chongryangni P. O. Box 150, Seoul (South Korea)

Summary

The payload variation has been one of the principal reasons in reducing path tracking accuracy and complicating controller design. In this paper, the trajectory and input sensitivities for the payload variation are investigated for three different robot configurations which include unbalanced, inaccurately balanced and balanced configurations. Based upon the sensitivity theory, simulation studies were made to evaluate the sensitivities of these configurations with respect to payload variations. The simulation results are discussed in detail and compared for the three configurations.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1988

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References

1.Neuman, C.P. and Murray, J.J., “Linearization and sensitivity fonctions of dynamic robot models” IEEE Trans. SMC SMC-14, 805818 (1984).Google Scholar
2.Vukobratovic, M. and Kircanski, N., “Computer assisted sensitivity model generation in manipulation robots dynamicsMechanism and Machine Theory 19, No. 2, 223233 (1984).CrossRefGoogle Scholar
3.Chung, W.K., Cho, H.S., Lee, C.W. and Warnecke, H.J., “Performance of robotic manipulators with an Automatic Balancing Mechanism”, ASME Winter Annual Meeting, New Orleans 111121 (1984).Google Scholar
4.Chung, W.K., Cho, H.S., Chung, M.J. and Kang, Y.K., “On the dynamic characteristics of balanced robotic manipulators” Japan–U.S.A. Symposium on Flexible Automation, Osaka, Japan (07 14–18, 1986).Google Scholar
5.Frank, P.M., Introduction to System Sensitivity Theory (Academic Press, New York, 1978).Google Scholar
6.Daniels, A.R., Lee, Y.B. and Pal, M.K., “Nonlinear power-system optimization using dynamic sensitivity analysisProceedings of IEE 123, No. 4, 365370 (1976).Google Scholar
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